Search Images Maps Play YouTube News Gmail Drive More »
Sign in
Screen reader users: click this link for accessible mode. Accessible mode has the same essential features but works better with your reader.

Patents

  1. Advanced Patent Search
Publication numberUS20040006301 A1
Publication typeApplication
Application numberUS 10/437,267
Publication dateJan 8, 2004
Filing dateMay 13, 2003
Priority dateSep 20, 1999
Also published asUS6562019, WO2001021253A1
Publication number10437267, 437267, US 2004/0006301 A1, US 2004/006301 A1, US 20040006301 A1, US 20040006301A1, US 2004006301 A1, US 2004006301A1, US-A1-20040006301, US-A1-2004006301, US2004/0006301A1, US2004/006301A1, US20040006301 A1, US20040006301A1, US2004006301 A1, US2004006301A1
InventorsJonathan Sell, Roger Hastings
Original AssigneeSell Jonathan C., Hastings Roger N.
Export CitationBiBTeX, EndNote, RefMan
External Links: USPTO, USPTO Assignment, Espacenet
Magnetically guided myocardial treatment system
US 20040006301 A1
Abstract
A magnetically topped catheter is used to tunnel into the myocardium for cardiac treatment.
Images(6)
Previous page
Next page
Claims(11)
What is claimed:
1. A method for myocardial treatment comprising the steps of:
navigating a catheter to a treatment site;
displacing the catheter into the tissue at the treatment site
directing the tip of the catheter with magnetic fields applied from outside the body;
advancing the tip through tissue causing mechanical disruption of tissue forming a tunnel in the tissue at the treatment site.
2. The method of claim 1 wherein the catheter delivers ablation energy during the advancing step.
3. The method of claim 1 including the further step of:
stopping the advancing prior to the catheter tip exiting the tissue, thereby creating a blind hole tunnel in the tissue.
4. The method of claim 1 wherein:
the directing step causes the tip to orient through an angle of approximately 90 degrees as measured from the entry angle between the tissue plane and the catheter body.
5. The method of claim 3 further comprising:
repeating the steps of claim 3 sequentially while turning the catheter at the entry point, thereby forming a star shaped tunnel in the tissue.
6. The method of claim 1 further including the steps of:
injecting a drug through the catheter into the lesion;
withdrawing the catheter from the tunnel.
7. The method of claim 6 further including the step:
sealing the tunnel upon exit of the catheter from the tunnel whereby drug left in the wound is sealed in the tissue.
8. A catheter comprising:
a catheter body having a proximal end and a distal end;
a tunneling structure located at the distal end of the catheter body;
a magnetic element located proximate the distal tip of said catheter body; for guiding the catheter tip in response to external magnetic fields and gradients.
9. The catheter of claim 8 further comprising:
a lumen extending to the location proximate the distal tip for the delivery of drug to the site of the catheter.
10. A method of treating the heart comprising the steps of:
navigating a catheter to the myocardium;
entering the myocardium assisted by the application of externally generated magnetic fields and gradients to create a treatment site;
delivering a magnetically bound drug to the treatment site;
withdrawing the catheter while retaining the drug of the site with a magnetic field or gradient.
11. A method of treating the heart comprising:
navigating a catheter having a magnetic tip to the myocardium using externally applied magnetic fields or gradients to direct the tip;
advancing the catheter into the myocardium at a singular treatment site;
injecting a drug through a lumen in the catheter into the myocardium at the treatment site;
withdrawing the catheter from the treatment site.
Description
    CROSS REFERENCE TO RELATED APPLICATIONS
  • [0001]
    This application is a continuation-in-part of U.S. patent application Ser. No. 09/398,686, filed Sep. 20, 1999, now U.S. Pat. No. 6,562,019, issued May 12, 2003, the disclosure of which is incorporated herein by reference.
  • FIELD OF THE INVENTION
  • [0002]
    The present invention is related to the medical treatment of the myocardium and more specifically to devices for accessing the myocardium and to techniques for magnetically guided myocardial interventions.
  • BACKGROUND OF THE INVENTION
  • [0003]
    Various diseases exist that require precise access to the heart muscle. Current treatment modalities have been limited by the ability to direct and hold treatment devices in the proper location in a beating heart. Consequently, major open surgical interventions are common where a minimally invasive approach would be preferable. One such procedure is myocardial revascularization and the inventions are described in that context.
  • [0004]
    For example, patients who exhibit ischemic heart disease and who experience angina can be treated by perforating the wall of the ventricle. It is not entirely understood why this form of injury improves the cardiac performance of the patient. Some evidence suggest that the healing response to the injury causes new blood vessels to form and increases the size of existing blood vessels. The additional blood flow relieves the symptom angina.
  • [0005]
    The first myocardial revascularization experiments were performed with a laser, which was used to perforate the heart from the “outside” of the heart. In general, the laser energy was applied to the exterior wall of the ventricle and activated. In use, the laser energy burns and chars a hole in the heart wall. The blood pool inside the heart prevents further injury to structures within the heart.
  • [0006]
    More recently, it has been proposed to revascularize the heart wall through a percutaneous transluminal approach. See for example Nita, U.S. Pat. No. 5,927,203, incorporated herein by reference. This technique can be used to place a catheter against the endocardial surface of the heart. However, the heart wall is in constant motion and this relative motion renders creation of the lesion problematic.
  • [0007]
    In general, both improved devices and techniques are needed to advance this therapy.
  • SUMMARY OF THE INVENTION
  • [0008]
    The methods and devices of the invention are useful in a variety of settings. For purposes of illustration, the invention is described in the context of myocardial revascularization which is one instance where the catheter is magnetically navigated to a site near a wall of the heart. Other examples of treatments include the repair of septal defects and heart biopsy. It is anticipated that some forms of cardiomyopathy may respond to therapies delivered with these tools as well. For this reason it must be understood that the devices and methods can be used in a variety of contexts within the body.
  • [0009]
    A magnetically navigable and controllable catheter device is deployed at the heart wall and this device tunnels into the myocardium. Any of a variety of canalization techniques can be used to tunnel into the heart wall causing mechanical disruption of the tissues, including mechanical needles and RF energy sources as well as direct laser and heated tips. In a preferred embodiment, the catheter device guided by externally applied magnetic fields that are created by a magnetic surgery system (MSS). The MSS applies magnetic fields and gradients from outside the body to manipulate and direct medical devices within the body. The catheter devices of some embodiments of the present invention include magnetic elements that respond to the MSS field or gradient. In general, the physician interacts with a workstation that is associated with the MSS. The physician may define paths and monitor the progress of a procedure. Fully automatic and fully manual methods are operable with the invention.
  • [0010]
    Although several energy sources are disclosed that can be delivered by the catheter through its distal tip, an RF heated tip is preferred since it can be used both to cut and to coagulate tissues depending on the delivered energy level. This feature is shared with laser-heated tips and thermal catheter technologies but RF devices have a greater history of use for coagulation.
  • [0011]
    The proposed methods of the invention can be used to move the catheter device both along and across the muscle planes within the heart tissue so that a complex should pathway or “tunnel” can be created. This structured shape can be used to retain “implant” materials such as growth factor. Growth factor or other drugs may be embedded in or on absorbable material. In some instances it may be desirable to combine the drug with a magnetic particle sot that the gradient and fields can be used to position and retain the drug in the tissue. For example, the lesion can be in the form of a “blind” hole and the drug can be left behind in the wound and retained magnetically inside the tissues.
  • [0012]
    For purposes of this discussion, the term “ablation” or “lesion” should be considered to include thermally damaged tissues, eroded and charred tissue by other processes that destroy or remove tissue. Typical devices to carry out this “injury” include mechanical, RF, electrical, thermal, optical, and ultrasonic means. Throughout the description the wound is referred to as a tunnel in recognition of its shape.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • [0013]
    Throughout the various figures of the drawing identical reference numerals are used to indicate identical or equivalent structure, wherein:
  • [0014]
    [0014]FIG. 1 is a schematic of a heart showing two surgical approaches;
  • [0015]
    [0015]FIG. 2 is a representation of a step in the method;
  • [0016]
    [0016]FIG. 3 is a representation of a step in the method;
  • [0017]
    [0017]FIG. 4 is a representation of a step in the method;
  • [0018]
    [0018]FIG. 5 is a representation of a step in the method;
  • [0019]
    [0019]FIG. 6 is a representation of a step in the method;
  • [0020]
    [0020]FIG. 7is a representation of a step in the method;
  • [0021]
    [0021]FIG. 8 is a schematic of an exemplary thermal catheter;
  • [0022]
    [0022]FIG. 9 is a schematic of a mechanical revascularization catheter;
  • [0023]
    [0023]FIG. 10 is schematic of a RF revascularization catheter;
  • [0024]
    [0024]FIG. 11 is a representation of a serpentine path through the heart tissue possible with the methods and apparatus of this invention;
  • [0025]
    [0025]FIG. 12 is perspective view of one embodiment of an apparatus useful in the methods of this invention;
  • [0026]
    [0026]FIG. 13 is a side elevation view of another embodiment of an apparatus useful in the methods of this invention.
  • [0027]
    Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.
  • DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
  • [0028]
    [0028]FIG. 1 shows a schematic heart 10 located within the patient interacting with a magnetic surgery system or MSS 12. Two different surgical approaches are shown in the figure represented by catheter 16 and catheter 22.
  • [0029]
    The MSS system 12 includes a magnet system 14, which can generate controlled fields and gradients within the patient. The MSS 12 may also optionally include a localization system 17, which can be used to find the location and direction of the catheter tip within the body. The MSS 12 may also optionally include an imaging system 15, which can be used to display the real time location of the catheter with respect to the tissues. The imaging system 15 can also be used to collect preoperative images to guide the procedure. A companion workstation 18 is interfaced with these systems and controls them through the workstation 19. It should be noted that the energy source for the revascularization catheter is under the control of the MSS as well so that the therapy is integrated through the workstation. In general, the advancement of the catheter can be performed directly by the physician or the process may be automated through the workstation. For these reasons the invention contemplates both fully manual and fully automatic procedures mediated by the MSS.
  • [0030]
    Catheter 16 is depicted in a ventricle for a therapeutic intervention. This catheter shows a percutaneous transluminal access of the ventricle. Catheter 22 is shown in contact with the ventricle through an incision in the chest. This catheter shows a pericardial access to the epicardial surface of the heart 10. Catheters may also approach the heart through a site in the coronary tree. Although three different approaches are shown or described, the remainder of the description is disclosed in the context of the preferred transluminal approach for simplicity and clarity of disclosure. It should be recognized that the devices and procedures might be used in the other approaches as well.
  • [0031]
    [0031]FIG. 2 shows a catheter 16 in contact with the endocardial surface 11 of the heart. The distal tip 24 may include a magnetic or magnitizable material that interacts with the MSS field 26. One distinct advantage of this approach is that the applied field creates a force that holds the tip 24 in contact with the moving myocardial wall 28. Once an appropriate starting position has been established the tip 24 is activated through the workstation 19 and the catheter enters the myocardial wall 11 seen best in FIG. 3.
  • [0032]
    [0032]FIG. 3 shows the tip 24 turning under the influence of the MSS. A primary entrance axis is defined and shown in the figure as axis 36 while the instantaneous direction of travel is shown as path 38. It is a property of the device 16 that can track in the tissue and turn from an entry path through approximately 90 degrees within the distance of the heart wall.
  • [0033]
    [0033]FIG. 4 is an example of the use of the system to treat an infracted region 17 of the heart by encircling it with an ablation path within the wall 28 of the heart. In use, the MSS system is used to define the circular path indicated in the figure as path 19.
  • [0034]
    [0034]FIG. 5 shows the catheter 16 being used to define a very complex path within the heart wall 28. The MSS defines the arcuate path 21 and the magnetic tip 24 of the catheter 16 follows the path. In use, the ablation energy source is sufficient to tunnel in the tissue. Ablation wounds for this nature may be used to treat ‘hibernating tissue’ with drugs and the like.
  • [0035]
    [0035]FIG. 6 shows a guided intervention with the myocardial tissues. The MSS 12 can be used to define a path for the tip 24 of the catheter 16. A simple straight through path is depicted as path 38 this path takes the catheter 16 tip 24 completely through the block of tissue 11. The curved path is shown as path 36 which turns within the tissue so that the tip 24 is retained in the myocardium. In the illustration the tip 24 is following the curved path 36. In this example the tip, enters the tissue at an approximately orthogonal angle and remains within the myocardial tissues and creates a blind “wormhole” lesion or path. A lumen 40 in the catheter body 42 can be used to deliver a drug such as growth factor to the site of the injury. Other candidate drugs contemplated within the scope of the disclosure include VEGF vascular endothelial growth factor aFGF acidic fibroblast growth factor. It is believed that the uptake of the drug will be effective and result in the rapid development of new vessels. FIG. 6 shows a set of wormhole tracks, which share a common entry point 42. In operation, the catheter body may be retracted along the track and repositioned with the MSS to create a complex series of lesions that share the common entry point forming a “star” shaped system of tunnels. Upon retraction out of the tissues the power level at the tip 24 can be reduced and the tip can “cauterize” or seal the opening entry point 42.
  • [0036]
    [0036]FIG. 7 shows a preferred therapy where a RF heated catheter is used to create a “wormhole” lesion under the control of the field 26. During withdrawal of the catheter deposit drug coated magnetic particles typified by particle 60. The distal tip 52 cauterized the tissue on the exit path coagulating tissue shown as plug 63.
  • [0037]
    [0037]FIG. 8 shows an illustrative but preferred catheter 16. The preferred tunneling energy is a heated tip 24 which may accomplish with either radio frequency (RF) or laser energy through an optical fiber 33 from the energy source 21.
  • [0038]
    Localization coils 30 or the like in the catheter 31 may be used with the MSS to reveal the real time location of the catheter. Real time biplane fluoroscopy can also be used to show the physician the location of the device against the wall. The coils or other structures may be included to increase the radiopacity of the catheter tip.
  • [0039]
    [0039]FIG. 9 shows a mechanical catheter with a retractable needle 51, which may be manipulated through the proximal wire 56. In use, the needle can be used to pierce the heart wall. The catheter body 57 includes an optional lumen 40, which may be used to deliver a drug during the therapy.
  • [0040]
    [0040]FIG. 10 is an RF heated bipolar catheter using a distal electrode tip 52 with a proximal indifferent electrode 53 to supply heat to the tissues. An optional lumen 40 is shown for the delivery of a drug. One advantage of the RF catheter is the ability to lower the energy delivered to coagulate tissues.
  • [0041]
    [0041]FIG. 11 is a representation of a serpentine path 100 through the heart tissue 102 possible with the methods and apparatus of the various embodiments of this invention. As shown in FIG. 11, the serpentine path 100 has a generally “S” shape, and preferably contain at least two bends of greater than 90. The complicated path 100 helps retain substances delivered therein, but was difficult if not impossible to form with the apparatus and methods of the prior art.
  • [0042]
    A device useful in the methods of this invention is indicated generally as 150 in FIG. 12. The device 150 has a proximal end (not shown) a distal end 154, and a sidewall 156 extending therebetween defining a lumen 158 preferably extending the length of the device. An electrode 160, with a dome shape, is disposed at the distal end, and is provided with RF energy via lead 162. There as preferably a magnetically responsive element 164 in the distal end portion of the device 150. The element 164 is either a permanent magnetic material such as a neodymium-iron-boron alloy, or a permeable magnetic material. The material is selected, and the element is sized and shaped so that in an applied magnetic field, such as that from a MNS as discussed above, a magnetic moment is created orienting the distal end of the device in a selected direction. A tube 166 extends through the lumen, through a passage in the magnet element 164, and opens to a passage in the electrode 160, so that materials can be delivered into the paths created by the distal end of the device 150.
  • [0043]
    In operation the distal end of the device is navigated to the heart, and pressed against the heart wall. The RF energy is applied to the electrode 160 to form a hole in the heart tissue, by magnetically orienting the device 150 (by changing the external field direction) and advancing the device (either manually or with a motoized advancer) tunnels can be formed. However, because of the unique control permitted with magnetic navigation together with the very small size and extreme flexibility of the device, the paths formed by the device can take on complex shapes, which allowed for wider dispersal of agents, and improved retention of those agents. In particular the present invention permits the formation of serpentine paths, such as path 100 in FIG. 11.
  • [0044]
    Another device useful in the methods of this invention is indicated generally as 200 in FIG. 13. The device 200 has a proximal end (not shown) a distal end 204, and a sidewall 206 extending therebetween defining a lumen 208 preferably extending the length of the device. The distal end 204 of the device 200 preferably has a generally rounded or dome-shaped configuration. There as preferably a magnetically responsive element 214 in the distal end portion of the device 200. In this preferred embodiment, the element 214 is a set of three mutually perpendicular coils 216, 218, and 220, that can be selectively energized to create a magnetic moment, preferably in any direction. Pairs of lead wires (not shown) can independently power each of the coils. Thus, when a magnetic field is applied to an operating region containing the device 200, the distal end 204 of the device can be oriented in any direction by the controlled application of currents to the coils 216, 218, and 220. A magnetic field an be applied with a MNS, but the magnetic field could also be provided by a MR imaging system. An MR imaging system could provide a particularly strong magnetic field that is useful in navigating. The navigation of a medical device in an operating region with the aid of an externally applied magnetic field, such as that provided by an MRI device, by using a controllable variable magnetic moment in the device tip has been proposed, and is in fact the subject of Kuhn, U.S. Pat. No. 6,216,026, Arenson, U.S. Pat. No. 6,304,769, and Hastings et al., U.S. Pat. No. 6,401,723, the disclosures of which are incorporated herein by reference.
  • [0045]
    The MR imaging system also provides images of the tissues, so that the distal end 204 of the device 200 can be properly controlled to formed the desired complex paths. Of course, other imaging systems can be used including OCT, OCR, or ultrasound. In stead of, but more preferably in addition to imaging, some localization system can be used to further fix the position of the distal end of the device. To this end the coils 216, 218, and 220 can be used as part of a magnetic localization to fix the position and/or orientation, of the element 214, and thus of the distal end of the device.
  • [0046]
    An optical fiber 222 extends the length of the device 200, and is connected at its proximal end to a laser that provides energy for ablating tissue at the distal end of the optical fiber.
  • [0047]
    A tube 224 extends through the lumen, and opens to a passage in the distal end 204 of the device 200, so that materials can be delivered into the paths created by the distal end of the device.
  • [0048]
    In operation the distal end of the device is navigated to the heart, and pressed against the heart wall. The laser energy is applied to the optical fiber 222 to form a hole in the heart tissue, by magnetically orienting the device 200 (by changing the current in the coils 216, 218, and 220 and/or changing the external field direction) and advancing the device (either manually or with a motorized advancer) tunnels can be formed. However, because of the unique control permitted with magnetic navigation together with the very small size and extreme flexibility of the device, the paths formed by the device can take on complex shapes, which allowed for wider dispersal of agents, and improved retention of those agents. In particular the present invention permits the formation of serpentine paths, such as path 100 in FIG. 11.
  • [0049]
    The methods can be used to form passageways in the heart tissue, and or to deliver substances to the heart tissue via the passageways. These substances include stem cells (and particularly Autologous Cultured Stem Cells), gene therapy, VEGF (vascular endothelial growth factor), myoblasts, drugs and other materials and substances. For example, as disclosed in Law, The Regenerative Heart, in Business Briefing:Pharmatech 2002 incorporated herein by references, various treatments for the regeneration of heart tissue as discussed such as va
Patent Citations
Cited PatentFiling datePublication dateApplicantTitle
US5507744 *Apr 30, 1993Apr 16, 1996Scimed Life Systems, Inc.Apparatus and method for sealing vascular punctures
US5694945 *Oct 23, 1995Dec 9, 1997Biosense, Inc.Apparatus and method for intrabody mapping
US5766164 *Jul 3, 1996Jun 16, 1998Eclipse Surgical Technologies, Inc.Contiguous, branched transmyocardial revascularization (TMR) channel, method and device
US6015414 *Aug 29, 1997Jan 18, 2000Stereotaxis, Inc.Method and apparatus for magnetically controlling motion direction of a mechanically pushed catheter
US6224566 *May 4, 1999May 1, 2001Cardiodyne, Inc.Method and devices for creating a trap for confining therapeutic drugs and/or genes in the myocardium
Referenced by
Citing PatentFiling datePublication dateApplicantTitle
US7276044May 3, 2002Oct 2, 2007Stereotaxis, Inc.System and methods for advancing a catheter
US7341063Mar 24, 2006Mar 11, 2008Stereotaxis, Inc.Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments
US7346379Dec 27, 2005Mar 18, 2008Stereotaxis, Inc.Electrophysiology catheter
US7416335Jul 11, 2006Aug 26, 2008Sterotaxis, Inc.Magnetically shielded x-ray tube
US7495537Aug 10, 2006Feb 24, 2009Stereotaxis, Inc.Method and apparatus for dynamic magnetic field control using multiple magnets
US7537570Sep 11, 2007May 26, 2009Stereotaxis, Inc.Automated mapping of anatomical features of heart chambers
US7543239Jun 6, 2005Jun 2, 2009Stereotaxis, Inc.User interface for remote control of medical devices
US7567233Feb 2, 2007Jul 28, 2009Stereotaxis, Inc.Global input device for multiple computer-controlled medical systems
US7603905Jul 7, 2006Oct 20, 2009Stereotaxis, Inc.Magnetic navigation and imaging system
US7708696Jan 11, 2006May 4, 2010Stereotaxis, Inc.Navigation using sensed physiological data as feedback
US7708763 *Sep 30, 2004May 4, 2010Depuy Spine, Inc.Methods and devices for minimally invasive spinal fixation element placement
US7742803May 5, 2006Jun 22, 2010Stereotaxis, Inc.Voice controlled user interface for remote navigation systems
US7747960Feb 2, 2007Jun 29, 2010Stereotaxis, Inc.Control for, and method of, operating at least two medical systems
US7751867Dec 20, 2005Jul 6, 2010Stereotaxis, Inc.Contact over-torque with three-dimensional anatomical data
US7756308Feb 7, 2006Jul 13, 2010Stereotaxis, Inc.Registration of three dimensional image data to 2D-image-derived data
US7757694Sep 4, 2007Jul 20, 2010Stereotaxis, Inc.Method for safely and efficiently navigating magnetic devices in the body
US7766856Jun 28, 2007Aug 3, 2010Stereotaxis, Inc.System and methods for advancing a catheter
US7769444Jun 29, 2006Aug 3, 2010Stereotaxis, Inc.Method of treating cardiac arrhythmias
US7771415Nov 21, 2006Aug 10, 2010Stereotaxis, Inc.Method for safely and efficiently navigating magnetic devices in the body
US7772950Feb 24, 2009Aug 10, 2010Stereotaxis, Inc.Method and apparatus for dynamic magnetic field control using multiple magnets
US7818076Feb 7, 2007Oct 19, 2010Stereotaxis, Inc.Method and apparatus for multi-system remote surgical navigation from a single control center
US7831294Oct 7, 2004Nov 9, 2010Stereotaxis, Inc.System and method of surgical imagining with anatomical overlay for navigation of surgical devices
US7918857Oct 6, 2006Apr 5, 2011Depuy Spine, Inc.Minimally invasive bone anchor extensions
US7918858Oct 6, 2006Apr 5, 2011Depuy Spine, Inc.Minimally invasive bone anchor extensions
US7961924Aug 21, 2007Jun 14, 2011Stereotaxis, Inc.Method of three-dimensional device localization using single-plane imaging
US7961926Jul 13, 2010Jun 14, 2011Stereotaxis, Inc.Registration of three-dimensional image data to 2D-image-derived data
US7966059Jan 26, 2007Jun 21, 2011Stereotaxis, Inc.Rotating and pivoting magnet for magnetic navigation
US8024024Jun 27, 2008Sep 20, 2011Stereotaxis, Inc.Remote control of medical devices using real time location data
US8060184Jul 20, 2007Nov 15, 2011Stereotaxis, Inc.Method of navigating medical devices in the presence of radiopaque material
US8105361Feb 4, 2009Jan 31, 2012Depuy Spine, Inc.Methods and devices for minimally invasive spinal fixation element placement
US8114032 *Dec 21, 2009Feb 14, 2012Stereotaxis, Inc.Systems and methods for medical device advancement and rotation
US8135185Oct 18, 2007Mar 13, 2012Stereotaxis, Inc.Location and display of occluded portions of vessels on 3-D angiographic images
US8192374Jul 11, 2006Jun 5, 2012Stereotaxis, Inc.Estimation of contact force by a medical device
US8196590Jun 24, 2008Jun 12, 2012Stereotaxis, Inc.Variable magnetic moment MR navigation
US8231618Nov 5, 2008Jul 31, 2012Stereotaxis, Inc.Magnetically guided energy delivery apparatus
US8242972Feb 2, 2007Aug 14, 2012Stereotaxis, Inc.System state driven display for medical procedures
US8244824Feb 2, 2007Aug 14, 2012Stereotaxis, Inc.Coordinated control for multiple computer-controlled medical systems
US8273081Sep 10, 2007Sep 25, 2012Stereotaxis, Inc.Impedance-based cardiac therapy planning method with a remote surgical navigation system
US8277491Mar 18, 2010Oct 2, 2012Depuy Spine, Inc.Methods and devices for minimally invasive spinal fixation element placement
US8308628May 15, 2012Nov 13, 2012Pulse Therapeutics, Inc.Magnetic-based systems for treating occluded vessels
US8313422May 15, 2012Nov 20, 2012Pulse Therapeutics, Inc.Magnetic-based methods for treating vessel obstructions
US8369934Jul 6, 2010Feb 5, 2013Stereotaxis, Inc.Contact over-torque with three-dimensional anatomical data
US8419681May 17, 2005Apr 16, 2013Stereotaxis, Inc.Magnetically navigable balloon catheters
US8523916Feb 4, 2010Sep 3, 2013DePuy Synthes Products, LLCMethods and devices for spinal fixation element placement
US8529428May 31, 2012Sep 10, 2013Pulse Therapeutics, Inc.Methods of controlling magnetic nanoparticles to improve vascular flow
US8715150Nov 2, 2010May 6, 2014Pulse Therapeutics, Inc.Devices for controlling magnetic nanoparticles to treat fluid obstructions
US8721692Aug 2, 2013May 13, 2014Depuy Synthes Products LlcMethods and devices for spinal fixation element placement
US8734490Dec 2, 2011May 27, 2014DePuy Synthes Products, LLCMethods and devices for minimally invasive spinal fixation element placement
US8799792May 8, 2007Aug 5, 2014Stereotaxis, Inc.Workflow driven method of performing multi-step medical procedures
US8806359May 8, 2007Aug 12, 2014Stereotaxis, Inc.Workflow driven display for medical procedures
US8828007Feb 15, 2011Sep 9, 2014DePuy Synthes Products, LLCMinimally invasive bone anchor extensions
US8926491Sep 6, 2013Jan 6, 2015Pulse Therapeutics, Inc.Controlling magnetic nanoparticles to increase vascular flow
US9111016Jul 7, 2008Aug 18, 2015Stereotaxis, Inc.Management of live remote medical display
US9161786Apr 11, 2014Oct 20, 2015DePuy Synthes Products, Inc.Methods and devices for minimally invasive spinal fixation element placement
US9216040Apr 7, 2014Dec 22, 2015DePuy Synthes Products, Inc.Methods and devices for spinal fixation element placement
US9314222Sep 5, 2008Apr 19, 2016Stereotaxis, Inc.Operation of a remote medical navigation system using ultrasound image
US9339664May 2, 2014May 17, 2016Pulse Therapetics, Inc.Control of magnetic rotors to treat therapeutic targets
US9345498Dec 23, 2014May 24, 2016Pulse Therapeutics, Inc.Methods of controlling magnetic nanoparticles to improve vascular flow
US20020032478 *Jul 31, 2001Mar 14, 2002Percardia, Inc.Myocardial stents and related methods of providing direct blood flow from a heart chamber to a coronary vessel
US20020045928 *May 1, 2001Apr 18, 2002Percardia, Inc.Methods and devices for delivering a ventricular stent
US20020099404 *Jan 25, 2001Jul 25, 2002Mowry David H.Intravascular ventriculocoronary artery bypass delivery modalities
US20020177789 *May 3, 2002Nov 28, 2002Ferry Steven J.System and methods for advancing a catheter
US20030158509 *Feb 13, 2002Aug 21, 2003Tweden Katherine S.Cardiac implant and methods
US20030220661 *May 21, 2002Nov 27, 2003Heartstent CorporationTransmyocardial implant delivery system
US20040106931 *Jul 11, 2003Jun 3, 2004Percardia, Inc.Left ventricular conduits and methods for delivery
US20040169316 *Feb 27, 2004Sep 2, 2004Siliconix Taiwan Ltd.Encapsulation method and leadframe for leadless semiconductor packages
US20040210190 *May 13, 2004Oct 21, 2004Percardia, Inc.Interventional diagnostic catheter and a method for using a catheter to access artificial cardiac shunts
US20050113812 *Sep 16, 2004May 26, 2005Viswanathan Raju R.User interface for remote control of medical devices
US20050154389 *Sep 30, 2004Jul 14, 2005Depuy Spine, Inc.Methods and devices for minimally invasive spinal fixation element placement
US20050214342 *Mar 8, 2005Sep 29, 2005Percardia, Inc.Cardiac implant and methods
US20060036163 *Jul 19, 2005Feb 16, 2006Viswanathan Raju RMethod of, and apparatus for, controlling medical navigation systems
US20060052656 *Sep 9, 2004Mar 9, 2006The Regents Of The University Of CaliforniaImplantable devices using magnetic guidance
US20060144407 *Jul 20, 2005Jul 6, 2006Anthony AlibertoMagnetic navigation manipulation apparatus
US20060144408 *Jul 21, 2005Jul 6, 2006Ferry Steven JMicro-catheter device and method of using same
US20060269108 *Feb 7, 2006Nov 30, 2006Viswanathan Raju RRegistration of three dimensional image data to 2D-image-derived data
US20060270915 *Jan 11, 2006Nov 30, 2006Ritter Rogers CNavigation using sensed physiological data as feedback
US20060276867 *Aug 3, 2006Dec 7, 2006Viswanathan Raju RMethods and devices for mapping the ventricle for pacing lead placement and therapy delivery
US20060278246 *Dec 27, 2005Dec 14, 2006Michael EngElectrophysiology catheter
US20060281989 *May 5, 2006Dec 14, 2006Viswanathan Raju RVoice controlled user interface for remote navigation systems
US20060281990 *May 5, 2006Dec 14, 2006Viswanathan Raju RUser interfaces and navigation methods for vascular navigation
US20070016131 *Dec 21, 2005Jan 18, 2007Munger Gareth TFlexible magnets for navigable medical devices
US20070019330 *Jul 7, 2006Jan 25, 2007Charles WolfersbergerApparatus for pivotally orienting a projection device
US20070021731 *Jun 27, 2006Jan 25, 2007Garibaldi Jeffrey MMethod of and apparatus for navigating medical devices in body lumens
US20070021742 *Jul 11, 2006Jan 25, 2007Viswanathan Raju REstimation of contact force by a medical device
US20070021744 *Jul 7, 2006Jan 25, 2007Creighton Francis M IvApparatus and method for performing ablation with imaging feedback
US20070030958 *Jul 11, 2006Feb 8, 2007Munger Gareth TMagnetically shielded x-ray tube
US20070038064 *Jul 7, 2006Feb 15, 2007Creighton Francis M IvMagnetic navigation and imaging system
US20070038065 *Jul 7, 2006Feb 15, 2007Creighton Francis M IvOperation of a remote medical navigation system using ultrasound image
US20070038074 *Mar 7, 2006Feb 15, 2007Ritter Rogers CMethod and device for locating magnetic implant source field
US20070038410 *Aug 10, 2006Feb 15, 2007Ilker TunayMethod and apparatus for dynamic magnetic field control using multiple magnets
US20070043455 *Jul 14, 2006Feb 22, 2007Viswanathan Raju RApparatus and methods for automated sequential movement control for operation of a remote navigation system
US20070055124 *Sep 1, 2005Mar 8, 2007Viswanathan Raju RMethod and system for optimizing left-heart lead placement
US20070060829 *Jun 29, 2006Mar 15, 2007Carlo PapponeMethod of finding the source of and treating cardiac arrhythmias
US20070060962 *Jun 29, 2006Mar 15, 2007Carlo PapponeApparatus and methods for cardiac resynchronization therapy and cardiac contractility modulation
US20070060966 *Jun 29, 2006Mar 15, 2007Carlo PapponeMethod of treating cardiac arrhythmias
US20070060992 *Jun 2, 2006Mar 15, 2007Carlo PapponeMethods and devices for mapping the ventricle for pacing lead placement and therapy delivery
US20070062546 *Jun 2, 2006Mar 22, 2007Viswanathan Raju RElectrophysiology catheter and system for gentle and firm wall contact
US20070062547 *Jun 29, 2006Mar 22, 2007Carlo PapponeSystems for and methods of tissue ablation
US20070088077 *Oct 2, 2006Apr 19, 2007Plasse Terry FAppetite stimulation and reduction of weight loss in patients suffering from symptomatic hiv infection
US20070088197 *Mar 24, 2006Apr 19, 2007Sterotaxis, Inc.Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments
US20070146106 *Jan 26, 2007Jun 28, 2007Creighton Francis M IvRotating and pivoting magnet for magnetic navigation
US20070149946 *Dec 5, 2006Jun 28, 2007Viswanathan Raju RAdvancer system for coaxial medical devices
US20070161882 *Aug 16, 2006Jul 12, 2007Carlo PapponeElectrophysiology catheter and system for gentle and firm wall contact
US20070167720 *Dec 6, 2006Jul 19, 2007Viswanathan Raju RSmart card control of medical devices
US20070179492 *Jan 8, 2007Aug 2, 2007Carlo PapponeElectrophysiology catheter and system for gentle and firm wall contact
US20070197899 *Jan 16, 2007Aug 23, 2007Ritter Rogers CApparatus and method for magnetic navigation using boost magnets
US20070197906 *Jan 16, 2007Aug 23, 2007Ritter Rogers CMagnetic field shape-adjustable medical device and method of using the same
US20070250041 *Apr 19, 2007Oct 25, 2007Werp Peter RExtendable Interventional Medical Devices
US20070287909 *Apr 4, 2007Dec 13, 2007Stereotaxis, Inc.Method and apparatus for magnetically controlling catheters in body lumens and cavities
US20080006280 *Jul 20, 2005Jan 10, 2008Anthony AlibertoMagnetic navigation maneuvering sheath
US20080015427 *Jun 30, 2006Jan 17, 2008Nathan KasteleinSystem and network for remote medical procedures
US20080015670 *Jan 16, 2007Jan 17, 2008Carlo PapponeMethods and devices for cardiac ablation
US20080016677 *Jan 8, 2007Jan 24, 2008Stereotaxis, Inc.Rotating and pivoting magnet for magnetic navigation
US20080039830 *Aug 14, 2007Feb 14, 2008Munger Gareth TMethod and Apparatus for Ablative Recanalization of Blocked Vasculature
US20080045892 *Jun 28, 2007Feb 21, 2008Ferry Steven JSystem and Methods for Advancing a Catheter
US20080047568 *Sep 4, 2007Feb 28, 2008Ritter Rogers CMethod for Safely and Efficiently Navigating Magnetic Devices in the Body
US20080055239 *Feb 2, 2007Mar 6, 2008Garibaldi Jeffrey MGlobal Input Device for Multiple Computer-Controlled Medical Systems
US20080058609 *May 8, 2007Mar 6, 2008Stereotaxis, Inc.Workflow driven method of performing multi-step medical procedures
US20080059598 *Feb 2, 2007Mar 6, 2008Garibaldi Jeffrey MCoordinated Control for Multiple Computer-Controlled Medical Systems
US20080064933 *May 9, 2007Mar 13, 2008Stereotaxis, Inc.Workflow driven display for medical procedures
US20080064969 *Sep 11, 2007Mar 13, 2008Nathan KasteleinAutomated Mapping of Anatomical Features of Heart Chambers
US20080065061 *Sep 10, 2007Mar 13, 2008Viswanathan Raju RImpedance-Based Cardiac Therapy Planning Method with a Remote Surgical Navigation System
US20080077007 *Jul 20, 2007Mar 27, 2008Hastings Roger NMethod of Navigating Medical Devices in the Presence of Radiopaque Material
US20080097200 *Oct 18, 2007Apr 24, 2008Blume Walter MLocation and Display of Occluded Portions of Vessels on 3-D Angiographic Images
US20080132910 *Oct 18, 2007Jun 5, 2008Carlo PapponeControl for a Remote Navigation System
US20080200913 *Jan 30, 2008Aug 21, 2008Viswanathan Raju RSingle Catheter Navigation for Diagnosis and Treatment of Arrhythmias
US20080208912 *Feb 19, 2008Aug 28, 2008Garibaldi Jeffrey MSystem and method for providing contextually relevant medical information
US20080228065 *Mar 13, 2007Sep 18, 2008Viswanathan Raju RSystem and Method for Registration of Localization and Imaging Systems for Navigational Control of Medical Devices
US20080228068 *Mar 13, 2007Sep 18, 2008Viswanathan Raju RAutomated Surgical Navigation with Electro-Anatomical and Pre-Operative Image Data
US20080287909 *May 15, 2008Nov 20, 2008Viswanathan Raju RMethod and apparatus for intra-chamber needle injection treatment
US20080292901 *Nov 7, 2007Nov 27, 2008Hon Hai Precision Industry Co., Ltd.Magnesium alloy and thin workpiece made of the same
US20080294232 *May 15, 2008Nov 27, 2008Viswanathan Raju RMagnetic cell delivery
US20080312673 *Jun 5, 2008Dec 18, 2008Viswanathan Raju RMethod and apparatus for CTO crossing
US20080319303 *Jun 24, 2008Dec 25, 2008Sabo Michael EVariable magnetic moment mr navigation
US20090012821 *Jul 7, 2008Jan 8, 2009Guy BessonManagement of live remote medical display
US20090062646 *Sep 5, 2008Mar 5, 2009Creighton Iv Francis MOperation of a remote medical navigation system using ultrasound image
US20090082722 *Aug 21, 2008Mar 26, 2009Munger Gareth TRemote navigation advancer devices and methods of use
US20090105579 *Oct 14, 2008Apr 23, 2009Garibaldi Jeffrey MMethod and apparatus for remotely controlled navigation using diagnostically enhanced intra-operative three-dimensional image data
US20090131927 *Nov 17, 2008May 21, 2009Nathan KasteleinMethod and apparatus for remote detection of rf ablation
US20090138056 *Feb 4, 2009May 28, 2009Depuy Spine, Inc.Methods and devices for minimally invasive spinal fixation element placement
US20090177032 *Jan 8, 2009Jul 9, 2009Garibaldi Jeffrey MMethod and apparatus for magnetically controlling endoscopes in body lumens and cavities
US20090177037 *Jun 27, 2008Jul 9, 2009Viswanathan Raju RRemote control of medical devices using real time location data
US20090306643 *Feb 25, 2009Dec 10, 2009Carlo PapponeMethod and apparatus for delivery and detection of transmural cardiac ablation lesions
US20100063385 *Aug 6, 2009Mar 11, 2010Garibaldi Jeffrey MMethod and apparatus for magnetically controlling catheters in body lumens and cavities
US20100069733 *Sep 3, 2009Mar 18, 2010Nathan KasteleinElectrophysiology catheter with electrode loop
US20100097315 *Jul 17, 2009Apr 22, 2010Garibaldi Jeffrey MGlobal input device for multiple computer-controlled medical systems
US20100163061 *Sep 28, 2009Jul 1, 2010Creighton Francis MMagnets with varying magnetization direction and method of making such magnets
US20100168549 *Jul 29, 2009Jul 1, 2010Carlo PapponeElectrophysiology catheter and system for gentle and firm wall contact
US20100222669 *Aug 27, 2009Sep 2, 2010William FlickingerMedical device guide
US20100298845 *May 25, 2010Nov 25, 2010Kidd Brian LRemote manipulator device
US20100305502 *Dec 21, 2009Dec 2, 2010Ferry Steven JSystems and methods for medical device advancement and rotation
US20110022029 *Jul 6, 2010Jan 27, 2011Viswanathan Raju RContact over-torque with three-dimensional anatomical data
US20110033100 *Jul 13, 2010Feb 10, 2011Viswanathan Raju RRegistration of three-dimensional image data to 2d-image-derived data
US20110046618 *Jul 30, 2010Feb 24, 2011Minar Christopher DMethods and systems for treating occluded blood vessels and other body cannula
US20110087237 *Oct 12, 2010Apr 14, 2011Viswanathan Raju RMethod and apparatus for multi-system remote surgical navigation from a single control center
US20110130718 *Nov 25, 2010Jun 2, 2011Kidd Brian LRemote Manipulator Device
CN102497811A *Sep 6, 2010Jun 13, 2012皇家飞利浦电子股份有限公司Apparatus and method for controlling the movement and for localization of a catheter
WO2011030276A1 *Sep 6, 2010Mar 17, 2011Koninklijke Philips Electronics N.V.Apparatus and method for controlling the movement and for localization of a catheter
Classifications
U.S. Classification604/22, 606/39
International ClassificationA61B18/24, A61B19/00, A61M25/01, A61B17/00, A61B18/14
Cooperative ClassificationA61B2017/00247, A61B2018/00392, A61M25/0127, A61B18/1492, A61B18/24, A61B90/10
European ClassificationA61B19/20, A61M25/01C8
Legal Events
DateCodeEventDescription
Sep 4, 2003ASAssignment
Owner name: STEROTAXIS, INC., MISSOURI
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SELL, JONATHAN C.;HASTINGS, ROGER N.;REEL/FRAME:014466/0818;SIGNING DATES FROM 20030822 TO 20030825